Add valid actor reference in private actions check (#21)

Signed-off-by: romanodanilo <[email protected]> Signed-off-by: romanodanilo <[email protected]>
asam-ev · Jul 9, 2024 · d8a1cee · d8a1cee
1 parent 6057062
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diff --git a/qc_openscenario/checks/reference_checker/__init__.py b/qc_openscenario/checks/reference_checker/__init__.py
@@ -9,3 +9,6 @@
 from . import (
     resolvable_traffic_signal_controller_by_traffic_signal_controller_ref as resolvable_traffic_signal_controller_by_traffic_signal_controller_ref,
 )
+from . import (
+    valid_actor_reference_in_private_actions as valid_actor_reference_in_private_actions,
+)
diff --git a/qc_openscenario/checks/reference_checker/reference_checker.py b/qc_openscenario/checks/reference_checker/reference_checker.py
@@ -12,6 +12,7 @@
     uniquely_resolvable_entity_references,
     resolvable_signal_id_in_traffic_signal_state_action,
     resolvable_traffic_signal_controller_by_traffic_signal_controller_ref,
+    valid_actor_reference_in_private_actions,
 )
 
 
@@ -56,6 +57,7 @@ def run_checks(checker_data: models.CheckerData) -> None:
         uniquely_resolvable_entity_references.check_rule,
         resolvable_signal_id_in_traffic_signal_state_action.check_rule,
         resolvable_traffic_signal_controller_by_traffic_signal_controller_ref.check_rule,
+        valid_actor_reference_in_private_actions.check_rule,
     ]
 
     for rule in rule_list:

diff --git a/qc_openscenario/checks/reference_checker/valid_actor_reference_in_private_actions.py b/qc_openscenario/checks/reference_checker/valid_actor_reference_in_private_actions.py
@@ -0,0 +1,100 @@
+import os, logging
+
+from dataclasses import dataclass
+from typing import List
+
+from lxml import etree
+
+from qc_baselib import Configuration, Result, IssueSeverity
+
+from qc_openscenario import constants
+from qc_openscenario.schema import schema_files
+from qc_openscenario.checks import utils, models
+
+from qc_openscenario.checks.reference_checker import reference_constants
+from collections import deque, defaultdict
+
+MIN_RULE_VERSION = "1.2.0"
+RULE_SEVERITY = IssueSeverity.ERROR
+
+
+def check_rule(checker_data: models.CheckerData) -> None:
+    """
+    Rule ID: asam.net:xosc:1.2.0:reference_control.valid_actor_reference_in_private_actions
+
+    Description: In a ManeuverGroup, if the defined action is a private action an actor must be defined.
+
+    Severity: ERROR
+
+    Version range: [1.2.0, )
+
+    Remark:
+        None
+
+    More info at
+        - https://github.com/asam-ev/qc-openscenarioxml/issues/17
+    """
+    logging.info("Executing valid_actor_reference_in_private_actions check")
+
+    schema_version = checker_data.schema_version
+    if schema_version is None:
+        logging.info(f"- Version not found in the file. Skipping check")
+        return
+
+    if utils.compare_versions(schema_version, MIN_RULE_VERSION) < 0:
+        logging.info(
+            f"- Version {schema_version} is less than minimum required version {MIN_RULE_VERSION}. Skipping check"
+        )
+        return
+
+    rule_uid = checker_data.result.register_rule(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+        emanating_entity="asam.net",
+        standard="xosc",
+        definition_setting=MIN_RULE_VERSION,
+        rule_full_name="reference_control.valid_actor_reference_in_private_actions",
+    )
+
+    root = checker_data.input_file_xml_root
+
+    maneuver_groups = root.findall(".//ManeuverGroup")
+    if maneuver_groups is None:
+        logging.error(
+            "Cannot find ManeuverGroup node in provided XOSC file. Skipping check"
+        )
+        return
+
+    for maneuver_group in maneuver_groups:
+
+        private_actions = maneuver_group.findall(".//PrivateAction")
+        entity_refs = maneuver_group.findall(".//EntityRef")
+
+        if private_actions is None or entity_refs is None:
+            logging.error(
+                "Cannot find PrivateAction or EntityRef node in provided XOSC file. Skipping check"
+            )
+            return
+
+        has_private_action = len(private_actions) > 0
+        no_actor_provided = len(entity_refs) == 0
+
+        has_issue = has_private_action and no_actor_provided
+
+        if has_issue:
+            xpath = root.getpath(maneuver_group)
+            issue_id = checker_data.result.register_issue(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                description="Issue flagging when no Actor is specified but a PrivateAction is used",
+                level=RULE_SEVERITY,
+                rule_uid=rule_uid,
+            )
+            private_actions_xpaths = [root.getpath(x) for x in private_actions]
+            checker_data.result.add_xml_location(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                issue_id=issue_id,
+                xpath=xpath,
+                description=f"ManeuverGroup at {xpath} uses private actions {private_actions_xpaths} but it defines no actor",
+            )
diff --git a/..._private_actions/reference_control.valid_actor_reference_in_private_actions.negative.xosc b/..._private_actions/reference_control.valid_actor_reference_in_private_actions.negative.xosc
@@ -0,0 +1,68 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <Private entityRef="Vehicle 1">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+        <Story name="Sample Story">
+            <Act name="Sample Act">
+                <ManeuverGroup maximumExecutionCount="1" name="Sample Maneuver">
+                    <Actors selectTriggeringEntities="true">
+                        <!-- Inserted rule violation since no EntityRef is defined but a
+                        PrivateAction is used below. -->
+                    </Actors>
+                    <Maneuver name="Sample Maneuver">
+                        <Event name="Sample Event" priority="overwrite">
+                            <Action name="Sample Action">
+                                <PrivateAction>
+                                    <LongitudinalAction>
+                                        <SpeedAction>
+                                            <SpeedActionTarget>
+                                                <AbsoluteTargetSpeed value="0.0" />
+                                            </SpeedActionTarget>
+                                            <SpeedActionDynamics dynamicsDimension="rate"
+                                                dynamicsShape="step" value="1" />
+                                        </SpeedAction>
+                                    </LongitudinalAction>
+                                </PrivateAction>
+                            </Action>
+                        </Event>
+                    </Maneuver>
+                </ManeuverGroup>
+            </Act>
+        </Story>
+    </Storyboard>
+</OpenSCENARIO>
diff --git a/...ions/reference_control.valid_actor_reference_in_private_actions.positive.with_entity.xosc b/...ions/reference_control.valid_actor_reference_in_private_actions.positive.with_entity.xosc
@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <Private entityRef="Vehicle 1">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+        <Story name="Sample Story">
+            <Act name="Sample Act">
+                <ManeuverGroup maximumExecutionCount="1" name="Sample Maneuver">
+                    <Actors selectTriggeringEntities="true">
+                        <EntityRef entityRef="Vehicle1234" />
+                    </Actors>
+                    <Maneuver name="Sample Maneuver">
+                        <Event name="Sample Event" priority="overwrite">
+                            <Action name="Sample Action">
+                                <PrivateAction>
+                                    <LongitudinalAction>
+                                        <SpeedAction>
+                                            <SpeedActionTarget>
+                                                <AbsoluteTargetSpeed value="0.0" />
+                                            </SpeedActionTarget>
+                                            <SpeedActionDynamics dynamicsDimension="rate"
+                                                dynamicsShape="step" value="1" />
+                                        </SpeedAction>
+                                    </LongitudinalAction>
+                                </PrivateAction>
+                            </Action>
+                        </Event>
+                    </Maneuver>
+                </ManeuverGroup>
+            </Act>
+        </Story>
+    </Storyboard>
+</OpenSCENARIO>
diff --git a/..._private_actions/reference_control.valid_actor_reference_in_private_actions.positive.xosc b/..._private_actions/reference_control.valid_actor_reference_in_private_actions.positive.xosc
@@ -0,0 +1,41 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <Private entityRef="Vehicle 1">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+    </Storyboard>
+</OpenSCENARIO>
diff --git a/tests/test_reference_checks.py b/tests/test_reference_checks.py
@@ -310,3 +310,90 @@ def test_traffic_signal_controller_multiple_negative(
     assert "bar" in reference_issues[0].locations[0].description
     assert "0000" in reference_issues[1].locations[0].description
     test_utils.cleanup_files()
+
+
+def test_valid_actor_reference_in_private_actions_positive(
+    monkeypatch,
+) -> None:
+    base_path = "tests/data/valid_actor_reference_in_private_actions/"
+    target_file_name = (
+        f"reference_control.valid_actor_reference_in_private_actions.positive.xosc"
+    )
+    target_file_path = os.path.join(base_path, target_file_name)
+
+    test_utils.create_test_config(target_file_path)
+
+    test_utils.launch_main(monkeypatch)
+
+    result = Result()
+    result.load_from_file(test_utils.REPORT_FILE_PATH)
+
+    _ = result.get_checker_result(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+    )
+    assert (
+        len(
+            result.get_issues_by_rule_uid(
+                "asam.net:xosc:1.2.0:reference_control.valid_actor_reference_in_private_actions"
+            )
+        )
+        == 0
+    )
+
+
+def test_valid_actor_reference_in_private_actions_positive_with_entity(
+    monkeypatch,
+) -> None:
+    base_path = "tests/data/valid_actor_reference_in_private_actions/"
+    target_file_name = f"reference_control.valid_actor_reference_in_private_actions.positive.with_entity.xosc"
+    target_file_path = os.path.join(base_path, target_file_name)
+
+    test_utils.create_test_config(target_file_path)
+
+    test_utils.launch_main(monkeypatch)
+
+    result = Result()
+    result.load_from_file(test_utils.REPORT_FILE_PATH)
+
+    _ = result.get_checker_result(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+    )
+    assert (
+        len(
+            result.get_issues_by_rule_uid(
+                "asam.net:xosc:1.2.0:reference_control.valid_actor_reference_in_private_actions"
+            )
+        )
+        == 0
+    )
+
+
+def test_valid_actor_reference_in_private_actions_negative(
+    monkeypatch,
+) -> None:
+    base_path = "tests/data/valid_actor_reference_in_private_actions/"
+    target_file_name = (
+        f"reference_control.valid_actor_reference_in_private_actions.negative.xosc"
+    )
+    target_file_path = os.path.join(base_path, target_file_name)
+
+    test_utils.create_test_config(target_file_path)
+
+    test_utils.launch_main(monkeypatch)
+
+    result = Result()
+    result.load_from_file(test_utils.REPORT_FILE_PATH)
+
+    _ = result.get_checker_result(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+    )
+
+    reference_issues = result.get_issues_by_rule_uid(
+        "asam.net:xosc:1.2.0:reference_control.valid_actor_reference_in_private_actions"
+    )
+    assert len(reference_issues) == 1
+    assert reference_issues[0].level == IssueSeverity.ERROR
+    test_utils.cleanup_files()